SensorBase Class Reference

#include <SensorBase.h>

Inheritance diagram for SensorBase:

Public Member Functions
	SensorBase ()
virtual	~SensorBase ()
Public Member Functions inherited from ErrorBase
virtual Error &	GetError ()
	Retrieve the current error. Get the current error information associated with this sensor.
virtual const Error &	GetError () const
virtual void	SetErrnoError (const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set error information associated with a C library call that set an error to the "errno" global variable. More...
virtual void	SetImaqError (int success, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated from the nivision Imaq API. More...
virtual void	SetError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...
virtual void	SetWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber) const
	Set the current error information associated with this sensor. More...
virtual void	CloneError (ErrorBase *rhs) const
virtual void	ClearError () const
	Clear the current error information associated with this sensor.
virtual bool	StatusIsFatal () const
	Check if the current error code represents a fatal error. More...

Static Public Member Functions
static void	DeleteSingletons ()
static uint32_t	GetDefaultAnalogModule ()
static uint32_t	GetDefaultDigitalModule ()
static uint32_t	GetDefaultSolenoidModule ()
static bool	CheckAnalogModule (uint8_t moduleNumber)
static bool	CheckDigitalModule (uint8_t moduleNumber)
static bool	CheckPWMModule (uint8_t moduleNumber)
static bool	CheckRelayModule (uint8_t moduleNumber)
static bool	CheckSolenoidModule (uint8_t moduleNumber)
static bool	CheckDigitalChannel (uint32_t channel)
static bool	CheckRelayChannel (uint32_t channel)
static bool	CheckPWMChannel (uint32_t channel)
static bool	CheckAnalogChannel (uint32_t channel)
static bool	CheckSolenoidChannel (uint32_t channel)
Static Public Member Functions inherited from ErrorBase
static void	SetGlobalError (Error::Code code, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber)
static void	SetGlobalWPIError (const char *errorMessage, const char *contextMessage, const char *filename, const char *function, uint32_t lineNumber)
static Error &	GetGlobalError ()

Static Public Attributes
static const uint32_t	kSystemClockTicksPerMicrosecond = 40
static const uint32_t	kDigitalChannels = 14
static const uint32_t	kAnalogChannels = 8
static const uint32_t	kAnalogModules = 2
static const uint32_t	kDigitalModules = 2
static const uint32_t	kSolenoidChannels = 8
static const uint32_t	kSolenoidModules = 2
static const uint32_t	kPwmChannels = 10
static const uint32_t	kRelayChannels = 8
static const uint32_t	kChassisSlots = 8

Protected Member Functions
void	AddToSingletonList ()
Protected Member Functions inherited from ErrorBase
	ErrorBase ()
	Initialize the instance status to 0 for now.

Additional Inherited Members
Protected Attributes inherited from ErrorBase
Error	m_error
Static Protected Attributes inherited from ErrorBase
static SEM_ID	_globalErrorMutex = semMCreate(SEM_Q_PRIORITY | SEM_DELETE_SAFE | SEM_INVERSION_SAFE)
static Error	_globalError

Detailed Description

Base class for all sensors. Stores most recent status information as well as containing utility functions for checking channels and error processing.

Constructor & Destructor Documentation

SensorBase::SensorBase

(

)

Creates an instance of the sensor base and gets an FPGA handle

SensorBase::~SensorBase ( )

virtual

Frees the resources for a SensorBase.

Member Function Documentation

void SensorBase::AddToSingletonList ( )

protected

Add sensor to the singleton list. Add this sensor to the list of singletons that need to be deleted when the robot program exits. Each of the sensors on this list are singletons, that is they aren't allocated directly with new, but instead are allocated by the static GetInstance method. As a result, they are never deleted when the program exits. Consequently these sensors may still be holding onto resources and need to have their destructors called at the end of the program.

bool SensorBase::CheckAnalogChannel ( uint32_t  channel )

static

Check that the analog channel number is value. Verify that the analog channel number is one of the legal channel numbers. Channel numbers are 1-based.

Returns

Analog channel is valid

bool SensorBase::CheckAnalogModule ( uint8_t  moduleNumber )

static

Check that the analog module number is valid.

Returns

Analog module is valid and present

bool SensorBase::CheckDigitalChannel ( uint32_t  channel )

static

Check that the digital channel number is valid. Verify that the channel number is one of the legal channel numbers. Channel numbers are 1-based.

Returns

Digital channel is valid

bool SensorBase::CheckDigitalModule ( uint8_t  moduleNumber )

static

Check that the digital module number is valid.

Returns

Digital module is valid and present

bool SensorBase::CheckPWMChannel ( uint32_t  channel )

static

Check that the digital channel number is valid. Verify that the channel number is one of the legal channel numbers. Channel numbers are 1-based.

Returns

PWM channel is valid

bool SensorBase::CheckPWMModule ( uint8_t  moduleNumber )

static

Check that the digital module number is valid.

Returns

Digital module is valid and present

bool SensorBase::CheckRelayChannel ( uint32_t  channel )

static

Check that the digital channel number is valid. Verify that the channel number is one of the legal channel numbers. Channel numbers are 1-based.

Returns

Relay channel is valid

bool SensorBase::CheckRelayModule ( uint8_t  moduleNumber )

static

Check that the digital module number is valid.

Returns

Digital module is valid and present

bool SensorBase::CheckSolenoidChannel ( uint32_t  channel )

static

Verify that the solenoid channel number is within limits.

Returns

Solenoid channel is valid

bool SensorBase::CheckSolenoidModule ( uint8_t  moduleNumber )

static

Check that the solenoid module number is valid.

Returns

Solenoid module is valid and present

void SensorBase::DeleteSingletons ( )

static

Delete all the singleton classes on the list. All the classes that were allocated as singletons need to be deleted so their resources can be freed.

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The documentation for this class was generated from the following files:

• SensorBase.h
• SensorBase.cpp